I have the pleasure of driving my 2021 LC200 and our Daughter/Son in Law 2020 LX570 which is low mileage (~65k) and Lexus certified pre owned. The ride is different yet I do not find the lean during cornering any different from KDSS. Dive maybe some. I prefer the simplicity of the non AHC LC200 suspension (what we have in the US) including for high tow and hook loads and long term reliability.
IMO both vehicle are great and you should drive both and based on condition and your taste make the choice. The continuous push by LX570 owners it is actually better I just do not see at all and the AHC like cornering headlights is just a complex gimmick. All and all it’s similar and different in some aspects, potentiall good (like the driver seat in 16+ or the second hand price) or bad (Higher octane fuel, the setup of rear AC controls, the terrible infotainment mouse, more complexity from AHC & roller sunshades & cornering head lights for little gain, the interesting X grill, the dreadful light color wood). In the end I wanted a capable all round understated very reliable SUV and the 200 series in Land Cruiser dress checks all these boxes together with the bonus of a nice, comfortable and a quiet cabin. The LX570 simply does not.
The only aspect I give the 16+ LX570 the heads up on is the nicer and longer driver seat cushion setup.